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Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"
Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR
Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.
A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation
Differential Dynamic Programming and Iterative LQR in Drake
A Collection of Variational Autoencoders (VAE) in PyTorch.
unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym
Some good robot reinforcement learning projects and papers
RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"
Codebase for the 'BestMan' Mobile Manipulator
RialTo Policy Learning Pipeline
This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework and Matlab simulation environment. 🏎️
Reinforcement Learning with Model Predictive Control
An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem
Teaching a quadruped robot to walk using a spiking neural network based architecture
[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion
Quadrupedal locomotion for slippery terrains, Mujoco and Real Go1-Go2 Unitree's.
Mujoco Gym environment for the control of quadruped robots
Model-predictive control based on augmented Lagrangian
A Library of ADMM for Sparse and Low-rank Optimization
Quadruped robot linear MPC control, platform Webots + MATLAB
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
A Python implementation about quadruped locomotion using convex model predictive control (MPC).